VAL3 Reference Manual

VAL3 is a high-level programming language designed to control Stäubli robots in all kinds of applications. VAL3 language combines the basic features of a standard real-time high-level computer language with functionalities that are specific to the control of an industrial robot cell: • robot control tools• geometrical modelling tools• input/output control toolsThis reference manual explains the essential concepts of robot programming and describes the VAL3instructions which fall into the following categories: • Language elements• Simple types• User interface• Tasks• Libraries• Robot control• Arm position• Movement control Introduction VAL3 language elements 2.1. applications 2.1.1. Definition 2.1.2. Default content 2.1.3. Start/stop 2.1.4. Application parameters 2.1.4.1. Unit of length 2.1.4.2. Amount of stack memory 2.2. Programs 2.2.1. Definition 2.2.2. Re-entry 2.2.3. Start() program 2.2.4. Stop() program 2.3. data types 2.3.1. Definition 2.3.2. Simple types 2.3.3. Structured types 2.4. Data initialization 2.4.1. Simple type data 2.4.2. Structured type data 2.4.3. Array of constants 2.5. Variables 2.5.1. Definition 2.5.2. Variable scope 2.5.3. Accessing a variable value 2.5.4. Parameter passed "by value" 2.5.5. Parameter passed "by reference" 2.6. Sequence control instructions Simple types 3.1. Instructions 3.2. bool type 3.2.1. Definition 3.2.2. Operators 3.3. num type 3.3.1. Definition 3.3.2. Operators 3.3.3. Instructions 3.4. Bit field type 3.4.1. Definition 3.4.2. Operators 3.4.3. Instructions 3.5. string type 3.5.1. Definition 3.5.2. Operators 3.5.3. Instructions 3.6. dio type 3.6.1. Definition 3.6.2. Operators 3.6.3. Instructions 3.7. aio type 3.7.1. Definition 3.7.2. Instructions 3.8. sio type 3.8.1. Definition Operators 3.8.2. Instructions User interface 4.1. User page 4.2. Instructions Tasks 5.1. Definition 5.2. Resuming after a runtime error Starting and stopping the application 5.3. Visibility 5.4. Sequencing 5.5. Synchronous tasks 5.6. Overrun 5.7. Inputs / Outputs refresh 5.8. Synchronization 5.9. Sharing resources 5.10. Instructions Libraries 6.1. Definition 6.2. Interface 6.3. Interface identifier 6.4. Content 6.5. Encryption 6.6. Loading and unloading 6.7. Instructions Robot control 7.1. Instructions Arm positions 8.1. Introduction 8.2. joint type 8.2.1. Definition 8.2.2. Operators 8.2.3. Instructions 8.3. trsf type 8.3.1. Definition 8.3.2. Orientation 8.3.3. Operators 8.3.4. Instructions 8.4. frame type 8.4.1. Definition 8.4.2. Use 8.4.3. Operators 8.4.4. Instructions 8.5. tool type 8.5.1. Definition 8.5.2. Use 8.5.3. Operators 8.5.4. Instructions 8.6. point type 8.6.1. Definition 8.6.2. Operators 8.6.3. Instructions 8.7. config type 8.7.1. Introduction 8.7.2. Definition 8.7.3. Operators 8.7.4. Configuration (RX/TX arm) 8.7.4.1. Shoulder configuration 8.7.4.2. Elbow configuration 8.7.4.3. Wrist configuration 8.7.5. Configuration (RS arm) 8.7.6. Instructions Movement control 9.1. Trajectory control 9.1.1. Types of movement: point-to-point, straight line, circle 9.1.2. Movement sequencing 9.1.2.1. Blending 9.1.2.2. Cancel blending 9.1.3. Movement resumption 9.1.4. Particularities of Cartesian movements (straight line, circle) 9.1.4.1. Interpolation of the orientation 9.1.4.2. Configuration change (Arm RX/TX) 9.1.4.3. Singularities (Arm RX/TX) 9.2. Movement anticipation 9.2.1. Principle 9.2.2. Anticipation and blending 9.2.3. Synchronization 9.3. Speed monitoring 9.3.1. Principle 9.3.2. Simple settings 9.3.3. Advanced settings 9.3.4. Enveloppe error 9.4. Real-time movement control 9.5. mdesc type 9.5.1. Definition 9.5.2. Operators 9.6. Movement instructions Options 10.1. Compliant movements with force control 10.1.1. Principle 10.1.2. Programming 10.1.3. Force control 10.1.4. Limitations 10.1.5. Instructions 10.2. ALTER: Real time control on a path Cartesian Alter 10.2.1. Principle 10.2.2. Programming 10.2.3. Constraints 10.2.4. Safety 10.2.5. Limitations 10.2.6. Instructions Syntax Function Parameter Details Syntax Function Parameter Details Syntax Function Parameter Details Syntax Function Parameter Details Details Parameter Details Details 10.3. OEM licence control 10.3.1. Principles 10.3.2. Instructions Appendix 11.1. Runtime error codes 11.2. Control panel keyboard key codes Illustration Index